function [KA,Weights,name] = selfCalibmultistart(TF,w,h,numparams,corrs)
%this function , given a camera center and a focal length and a series of fundamental
%matrices computes the error with respect to a fundamental matrix

[~,numFs]=size(TF);
name='multiStart';
Weights=ones(numFs,1);
%TF=TF*10000;
plotting=0;
numtries=50;

[ sln, ~,~ ] = PeterSturmSelfRobust( TF,w,h );


kstart=[sln(1,1) 0 w/2; 0 sln(1,1) h/2; 0 0 1];

[allsols,  scrs, bestslns] =nonlinearOptimizeselfcalibnormMODREDUCEDTIME(TF, w,h, numparams ,Weights,numtries,kstart);




if(plotting==1)
    plotSelfCalibResults(allsols,  scrs, bestslns,WEIGHTS,numparams);   
end

KA=bestslns;
end

